四足机器人液压驱动单元变刚度和变阻尼负载特性的模拟方法

中国机械工程

四足机器人液压驱动单元变刚度和变阻尼负载特性的模拟方法

俞滨1,2,3;巴凯先1;王佩1;吴柳杰1;孔祥东1,3

1.燕山大学,秦皇岛,066004
2.浙江大学流体动力与机电系统国家重点实验室,杭州,310000
3.河北省重型机械流体动力传输与控制实验室,秦皇岛,066004

出版日期:2016-09-25 发布日期:2016-09-22
基金资助:
国家自然科学基金资助项目（51605417）;流体动力与机电系统国家重点实验室开放基金课题资助项目(GZKF-201502)；燕山大学博士基金资助项目(B930)

Simulation Method of Variable Stiffness and Damping Load Characteristics on Hydraulic Drive Unit of a Quadruped Robot

Yu Bin1,2,3;Ba Kaixian1;Wang Pei1;Wu Liujie1;Kong Xiangdong1,3

1.Yanshan University,Qinhuangdao,Hebei,066004
2.State Key Laboratory of Fluid Power and Mechatronic Systems(Zhejiang University),Hangzhou,310000
3.Hebei Provincial Key Laboratory of Heavy Machinery Fluid Power Transmission and Control,Qinhuangdao,Hebei,066004

Online:2016-09-25 Published:2016-09-22
Supported by:

摘要/Abstract

摘要： 基于机理建模方法建立了液压驱动单元位置控制系统数学模型,针对不同环境结构下负载刚度和负载阻尼的动态变化特性,把位置控制环作为控制器内环,推导了一种变刚度和变阻尼负载特性的模拟方法。建立了负载特性模拟方法的仿真模型,并在液压驱动单元性能测试平台上进行了模拟方法的实验测试,研究了斜坡阶跃负载力和正弦负载力下变刚度和变阻尼负载特性的模拟效果。研究结果表明：设计的模拟方法能够较好地模拟环境刚度参数变化、阻尼参数变化,以及刚度参数和阻尼参数同时变化时的负载特性。

关键词: 四足机器人, 液压驱动单元, 变刚度阻尼负载特性, 负载特性模拟

Abstract: The position control system mathematic and simulation model of HDU was established by the mechanism modeling method. A variable load stiffness and load damping characteristics simulation method was derived through the position control loop as controller inner loop, considering the dynamic characteristics of the stiffness and the load damping under different environment structures. The simulation model for load characteristics was established. Then, the experimental test of simulation method was conducted on the HDU performance test platform. During the test, the stiffness, under the ramp-step and sinusoidal load force, and the characteristics of load with varied damping were researched. The research results indicate that the method designed herein may well simulate the variations of load stiffnesses, the variations of load dampings and even the coinstantaneous variations of load stiffness and load damping characteristics.

Key words: quadruped robot, hydraulic drive unit(HDU), variable load stiffness and load damping, load characteristics simulation

中图分类号:

TH137

俞滨, 巴凯先, 王佩, 吴柳杰, 孔祥东, . 四足机器人液压驱动单元变刚度和变阻尼负载特性的模拟方法[J]. 中国机械工程.

Yu Bin, Ba Kaixian, Wang Pei, Wu Liujie, Kong Xiangdong, . Simulation Method of Variable Stiffness and Damping Load Characteristics on Hydraulic Drive Unit of a Quadruped Robot[J]. China Mechanical Engineering.

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